Patrick Pastorelli

Fast Shortest Path Polyline Smoothing With $G{1}$ Continuity and Bounded Curvature

In this work, we propose the Dubins Path Smoothing (DPS) algorithm, a novel and efficient method for smoothing polylines in motion planning tasks. DPS applies to motion planning of vehicles with bounded curvature. In the letter, we show that the generated path: 1) has minimal length, 2) is <inline-f